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This paper studies system stability and performance of multi-agent systems in the context of consensus problems over wireless multiple-access channels (MAC). We propose a consensus algorithm that exploits the broadcast property of the…
In this work, we focus on solving a decentralized consensus problem in a private manner. Specifically, we consider a setting in which a group of nodes, connected through a network, aim at computing the mean of their local values without…
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of…
Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement and actuation is only approximated by the use of digital mechanisms that…
Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed estimation, and control. A key advantage of these protocols is…
In this paper, robust finite-time consensus of a group of nonlinear multi-agent systems in the presence of communication time delays is considered. In particular, appropriate delay-dependent strategies which are less conservative are…
Multi-agent systems driven by large language models (LLMs) have shown promising abilities for solving complex tasks in a collaborative manner. This work considers a fundamental problem in multi-agent collaboration: consensus seeking. When…
We study the problems of asymptotic and approximate consensus in which agents have to get their values arbitrarily close to each others' inside the convex hull of initial values, either without or with an explicit decision by the agents. In…
We study the distributed consensus of state vectors in a discrete-time multi-agent network with matrix edge weights using stochastic matrix convergence theory. We present a distributed asynchronous time update model wherein one randomly…
In this paper we investigate the problem of the sudden disconnection of an edge in a discrete-time multi-agent consensus network. If the graph remains strongly connected, the multi-agent system still achieves consensus, but in general,…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
We analyze stability of consensus algorithms in networks of multi-agents with time-varying topologies and delays. The topology and delays are modeled as induced by an adapted process and are rather general, including i.i.d.\ topology…
The paper investigates consensus problem for continuous-time multi-agent systems with time-varying communication graphs subject to process noises. Borrowing the ideas from input-to-state stability (ISS) and integral input-to-state stability…
This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…
This article investigates discrete-time matrix-weighted consensus of multi-agent networks over undirected and connected graphs. We first present consensus protocols for the agents in common networks of symmetric matrix weights with possibly…
We study the average consensus problem of multi-agent systems for general network topologies with unidirectional information flow. We propose two (linear) distributed algorithms, deterministic and gossip, respectively for the cases where…
In this paper, we study the asymptotic properties of distributed consensus algorithms over switching directed random networks. More specifically, we focus on consensus algorithms over independent and identically distributed, directed…
We consider the plurality consensus problem among $n$ agents. Initially, each agent has one of $k$ different opinions. Agents choose random interaction partners and revise their state according to a fixed transition function, depending on…
Solving optimization problems in multi-agent systems (MAS) involves information exchange between agents. These solutions must be robust to delays and errors that arise from an unreliable wireless network which typically connects the MAS. In…